Final Report, University Research Program in Robotics (URPR), Nuclear Facilities Clean-up

Technical Report · Thu Mar 31 04:00:00 EST 2005

OSTI ID:838825

Tesar, Delbert ^[1]; Kapoor, Chetan; Pryor, Mitch

---

1. University of Texas at Austin, Robotics Research Group

This final report describes the research activity at the University of Texas at Austin with application to EM needs at DOE. This research activity is divided in to two major thrusts and contributes to the overall University Research Program in Robotics (URPR) thrust by providing mechanically oriented robotic solutions based on modularity and generalized software. These thrusts are also the core strengths of the UTA program that has a 40-year history in machine development, 30 years specifically devoted to robotics. Since 1975, much of this effort has been to establish the general analytical and design infrastructure for an open (modular) architecture of systems with many degrees of freedom that are able to satisfy a broad range of applications for future production machines. This work has coalesced from two principal areas: standardized actuators and generalized software.

• Research Organization: University of Texas at Austin
• Sponsoring Organization: USDOE Office of Environmental Management (EM)
• DOE Contract Number: FG04-94EW37966
• OSTI ID: 838825
• Country of Publication: United States
• Language: English

Related Subjects

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
ACTUATORS
ARCHITECTURE
DEGREES OF FREEDOM
DESIGN
NUCLEAR FACILITIES
PRODUCTION
RESEARCH PROGRAMS
URPR
actuation
manipulator
robotic
software
standardized actuators